CN112091255B - Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera - Google Patents
Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera Download PDFInfo
- Publication number
- CN112091255B CN112091255B CN202010705629.1A CN202010705629A CN112091255B CN 112091255 B CN112091255 B CN 112091255B CN 202010705629 A CN202010705629 A CN 202010705629A CN 112091255 B CN112091255 B CN 112091255B
- Authority
- CN
- China
- Prior art keywords
- hole
- deviation
- pose
- coordinate system
- measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B35/00—Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
Abstract
The invention relates to a calculation method for distribution intervals of hole-making positioning deviation sources and installation parameters of measuring cameras, and belongs to the technical field of airplane assembly and manufacturing. The calculation method comprises the following steps: (1) Automatic hole making is established based on self calibration and measurement errors of a vision systemA positioning deviation model of the system; (2) Establishing a positioning deviation measurement and compensation model based on a plurality of reference holes, measuring positioning errors at the reference holes, and compensating the positioning errors of the positions of holes to be manufactured in the action areas of the plurality of reference holes; (3) Constructing a positioning deviation comprehensive model delta for the hole to be drilled according to the position and orientation tolerance constraint of the hole drilling j ≤δ tol Solving the distribution interval of the unknown deviation source when the tolerance constraint is met by combining the distribution interval of the known deviation source; (4) And taking the distribution interval of the unknown deviation source as the distribution interval of the allowable installation angle error, and solving the installation angle error range of the measuring camera. The method can effectively reduce the development cost of the system, and can be widely applied to the assembly and manufacturing fields of large-scale airplanes and the like.
Description
Technical Field
The invention relates to the technical field of aircraft assembly and manufacturing, in particular to a method for calculating a distribution interval of hole-making positioning deviation sources of an automatic hole-making system and a method for calculating installation parameters of a measuring camera of the hole-making system.
Background
The assembly of the aircraft accounts for about 40-50% of the total labor capacity of the overall aircraft manufacturing, and is an important link of aircraft manufacturing, which directly determines the final quality, production cost and manufacturing period of the product. In the manufacturing process of an aircraft, two adjacent aircraft structures are usually connected by using rivets, bolts and other connectors, and in order to mount a large number of connectors required for assembly, a large number of fastening holes are required to be processed on the corresponding aircraft structures. In order to improve the quality and efficiency of the airplane assembly, an automatic hole making system is used for making holes, such as a multifunctional end effector disclosed in patent document with publication number CN106995063A, which includes a hole making unit and a screw tightening unit.
The processing quality and the position accuracy of the fastening hole can have important influence on the fatigue life of the assembled airplane product, but the position accuracy of the manufactured fastening hole is difficult to meet the design tolerance requirement under the influence of the self-positioning error of a hole-making system, the structural assembly deviation of the airplane to be provided with the hole and the like. In order to improve the positioning accuracy of drilling, the drilling system is usually corrected by using a correlation algorithm based on the measurement result of a measurement unit integrated on the drilling system, for example, a drilling normal interpolation correction method for a five-axis numerical control drilling machine tool disclosed in patent document CN109884988A, in which correction is performed based on four peripheral reference holes and normal vector measurement data at a position to be machined; acquiring the normal vector data of the four reference holes and the positions of the holes to be drilled, wherein the normal vector data are generally acquired based on a normal vector measurement unit integrated on a hole-making system; in addition, the position of the hole to be manufactured can be corrected based on the measurement result of the reference hole by the vision system.
When a hole making system integrated with a vision system is adopted to make holes on an airplane structure, a plurality of deviation sources which can cause hole making positioning deviation exist; the probability distribution information and the distribution interval of a part of deviation sources can be determined according to empirical values, precision detection tests and related documents, the installation error of a camera on a visual system is also a main deviation source for generating hole-making positioning deviation, the determination of the distribution interval of the deviation sources lacks related experience and theoretical guidance at present, and the installation position of the camera is adjusted when the positioning deviation exceeds a preset threshold value in the hole-making process, so that trial and error cost exists. Furthermore, the above problems also exist for other major sources of deviation, which are inexperienced or guided theoretically, such as determining the measurement accuracy of the aforementioned normal vector measurement unit for measuring the normal direction of the hole.
Disclosure of Invention
The invention mainly aims to provide a calculation method for measuring the installation parameters of a camera of an automatic hole making system, so as to reduce the development and debugging trial and error costs of the hole making system and reduce the correction times of the installation position of the camera;
another object of the present invention is to provide a method for calculating distribution intervals of positioning deviation sources of an automated drilling system, so as to reduce trial and error costs for developing and debugging the drilling system, and reduce the number of times of correcting installation positions of related measurement units.
In order to achieve the above object, the present invention provides a method for calculating mounting parameters of a measuring camera of an automated drilling system, wherein the mounting parameters include allowable mounting angle errors, the mounting angle is an included angle between an optical axis of the measuring camera and an axial direction of an axis of a drilling tool, a vision system integrated on the automated drilling system includes the measuring camera, the vision system is used for measuring positioning deviation of drilling during drilling, and the calculating method includes the following steps:
step 1, establishing a positioning deviation model of an automatic hole making system based on self calibration and measurement errors of a vision system;
step 3, constructing a positioning deviation comprehensive model delta to be drilled according to the position and posture tolerance constraint of the drilled hole j ≤δ tol Solving the distribution interval of the unknown deviation source when the tolerance constraint is met by combining the distribution interval of the known deviation source;
and 4, taking the distribution interval of the unknown deviation source as the distribution interval of the allowable installation angle error, and solving the installation angle error range of the measuring camera.
In the technical scheme, an automatic hole-making positioning deviation model considering positioning deviation measurement and compensation is established, and then positioning deviation synthesis under the engineering constraint condition is carried out based on a mathematical statistics theory, so that the installation parameters of the camera are calculated, namely the parallelism between the optical axis of the camera and the axis of the cutter is ensured to be less than a certain degree when the camera is installed through the positioning deviation synthesis, so that the installation of the measuring camera is guided, the development and debugging trial-and-error cost of a hole-making system is reduced, and the installation position correction times of the measuring camera are reduced.
The specific scheme is that the step 1 comprises the following steps:
(1) Calculating the pose deviation T between the actual tool coordinate system TCP' and the actual reference hole on the premise of not considering the calibration and measurement errors of the vision system PE ＝ TCP’ T VSF VSF T RHF’ (ii) a Wherein the content of the first and second substances, TCP’ T VSF representing the pose of the ideal vision system coordinate system in the actual tool coordinate system, VSF T RHF’ representing the actual reference hole pose, T, in the coordinate system of the vision system PE Representing the actual positioning deviation;
(2) Under the premise of considering the self calibration and measurement errors of the vision system, calculating the pose deviation T between the actual tool coordinate system TCP' and the measured reference hole PE’ ＝ TCP’ T VSF’ VSF’ T RHF” (ii) a Wherein the content of the first and second substances, TCP’ T VSF’ representing non-ideal visionThe system coordinate system is the pose in the actual tool coordinate system, VSF’ T RHF” representing the pose, T, of a reference hole measured in a non-ideal vision system coordinate system PE’ Indicating the measured positioning deviation;
(3) After the positioning deviation measurement and compensation, the positioning deviation model of the automatic hole making system is T PE” ＝(T PE ) - 1 T PE’ 。
More specifically, the step 2 comprises the following steps:
(1) Measuring pose errors of a plurality of reference holes
Wherein m is the number of the reference holes,
pose deviation caused by calibration and measurement errors of a vision system;
(2) Using measured position and orientation errors of reference holes based on bilinear interpolation algorithm
Correcting the position error in fastening bores to be fastened>
Where n is the number of fastening holes to be made, f (-) represents a bilinear interpolation function, S u,v Is a curved surface model of the structure of the airplane to be drilled, and u, v are E [0,1 ∈]×[0,1]；
(3) Calculating the pose deviation between the actual tool coordinate system TCP' and the corrected drilling pose
The further proposal is that
Wherein it is present>
And &>
For the measurement error of the ith reference hole along the x-axis and the y-axis of the coordinate system of the vision system, the device is judged>
Measuring error of the ith reference hole along the z axis of the coordinate system of the vision system; />
And/or>
The calibration errors along the x-axis, y-axis and z-axis of the coordinate system of the vision system are shown.
Preferably, m is 2, and the reference hole action region for hole position correction is a straight line region between the two reference holes; or m is 4, and the reference hole action area for hole position correction is a surface area surrounded by the four reference holes.
The further scheme is that the step 3 comprises the following steps:
(1) Constructing a hole-making positioning deviation comprehensive model delta according to the hole-making pose tolerance j ＝||δ j || 2 ≤δ tol (ii) a Wherein | · | purple sweet 2 Is the Euclidean norm, δ tol Is the tolerance of the pose error, δ j ＝(δ x ,δ y ) Is a position error vector on the xy plane of the coordinate system of the visual system,
(2) Order to
The hole-making positioning deviation comprehensive model is
(3) Order to
Wherein, delta conext ,δ ins ,δ machine Respectively representing calibration errors from an elliptical contour extraction algorithm, camera installation and hole making equipment, and taking the camera installation as an unknown deviation source;
(4) Obtaining delta according to the basic attribute of random variable distribution j Has a mean and variance relationship of
(5) Based on the pair delta in engineering application conext ,δ ins ,δ machine Upper and lower limits of partial error sources and pose error delta tol Is known, and solving for the unknown deviation source delta by using the relation between the deviation sources constructed in the step (4) ins The probability distribution parameter of (2).
The further scheme is that the step 4 comprises the following steps: with unknown source of deviation delta ins Is the angle theta between the actual camera optical axis and the tool axis ins Caused by that
According to the probability distribution attribute of the random variable and the relation between the probability distribution parameter and the interval, the distribution interval->
The error range of the installation angle.
In order to achieve the above another object, the present invention provides a method for calculating a distribution interval of positioning deviation sources of an automated drilling system, wherein the automated drilling system is integrated with a measurement system, and the measurement system is used for measuring positioning deviation of drilling during drilling, the method comprising the following steps:
step 1, establishing a positioning deviation model of an automatic hole making system based on calibration and measurement errors of a measurement system;
step 3, constructing a positioning deviation comprehensive model delta to be drilled according to the position and posture tolerance constraint of the drilled hole j ≤δ tol And solving the distribution interval of the unknown deviation source when the tolerance constraint is met by combining the distribution interval of the known deviation source.
In the technical scheme, an automatic hole-making positioning deviation model considering positioning deviation measurement and compensation is established, positioning deviation synthesis under engineering constraint conditions is carried out based on a mathematical statistics theory, factors considered in the positioning deviation synthesis comprise non-ideal measurement unit installation, non-ideal measurement conditions, equipment positioning errors and the like so as to guide the design and development of the hole-making system, scientific requirements can be provided for type selection and assembly of relevant parts of the hole-making system, and therefore the development and debugging trial-and-error cost of the hole-making system can be reduced, and the correction times of the installation positions of the relevant measurement units are reduced.
The specific scheme is that the step 1 comprises the following steps:
(1) Calculating the pose deviation T between the actual tool coordinate system TCP' and the actual reference hole on the premise of not considering the calibration and measurement errors of the measurement system PE ＝ TCP’ T VSF VSF T RHF’ (ii) a Wherein, the first and the second end of the pipe are connected with each other, TCP’ T VSF representing the pose of the ideal measuring system coordinate system in the actual tool coordinate system, VSF T RHF’ representing the actual reference hole pose, T, in the measurement system coordinate system PE Representing the actual positioning deviation;
(2) Under the premise of considering the calibration and measurement errors of the measurement system, calculating the pose deviation T between the actual tool coordinate system TCP' and the measured reference hole PE’ ＝ TCP’ T VSF’ VSF’ T RHF” (ii) a Wherein the content of the first and second substances, TCP’ T VSF’ representing the pose of the non-ideal measuring system coordinate system in the actual tool coordinate system, VSF ’T RHF” representing the pose, T, of a reference hole measured in a non-ideal measurement system coordinate system PE’ Indicating the measured positioning deviation;
(3) After the positioning deviation measurement and compensation, the positioning deviation model of the automatic hole making system is T PE” ＝(T PE ) - 1 T PE’ ；
The step 2 comprises the following steps:
(1) Measuring pose errors of a plurality of reference holes
Wherein m is the number of the reference holes,
the pose deviation caused by the calibration and measurement errors of the measurement system;
(2) Based on bilinear interpolation algorithm, using the measured pose error of the reference hole
Correcting the position and orientation error of the fastening hole to be fastened>
Where n is the number of fastening holes to be made, f (-) represents a bilinear interpolation function, S u,v Is a curved surface model of the structure of the airplane to be drilled, and u, v are E [0,1 ∈]×[0,1]；
(3) Calculating the pose deviation between the actual tool coordinate system TCP' and the corrected hole making
The step 3 comprises the following steps:
(1) Constructing a hole-making positioning deviation comprehensive model delta according to the hole-making pose tolerance j ＝||δ j || 2 ≤δ tol (ii) a Wherein | · | purple sweet 2 Is the Euclidean norm, δ tol Is the tolerance of the pose error, δ j ＝(δ x ,δ y ) Is a position error vector on the xy plane of the coordinate system of the measuring system,
(2) Order to
The hole-making positioning deviation comprehensive model is->
(3) Order to
Wherein, delta conext ,δ ins ,δ machine Respectively representing calibration errors from an elliptical contour extraction algorithm, measurement unit installation and hole making equipment, and taking the measurement unit installation as an unknown deviation source;
(4) Obtaining delta according to the basic attribute of random variable distribution j Has a mean and variance relationship of
(5) Based on the pair delta in engineering application conext ,δ ins ,δ machine Upper and lower limits of partial error sources and pose error delta tol Is known, and solving the unknown deviation source delta by using the relation between the deviation sources constructed in the step (4) ins The probability distribution parameter of (2).
More specific scheme is
Wherein it is present>
And/or>
For the measurement error of the ith reference hole along the x-axis and the y-axis of the coordinate system of the measuring system, based on the measured value of the reference hole>
Measuring error of the ith reference hole along the z axis of the coordinate system of the measuring system; />
And/or>
Calibration errors along the x-axis, the y-axis and the z-axis of a coordinate system of the measuring system are obtained; m is 2, and the action area of the reference hole for hole position correction is a straight line area between the two reference holes; or m is 4, and the action region of the reference hole for hole position correction is the surface region surrounded by the four reference holes.
Drawings
FIG. 1 is a schematic view of a typical hole making area in the prior art of automated hole making of an aircraft structure;
FIG. 2 is a schematic diagram illustrating an acquisition process of a positioning deviation model of an automated drilling system of an integrated vision system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an acquisition process of a hole site measurement and correction model of an automated hole drilling system of an integrated vision system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a relationship between an included angle between an optical axis of a camera and an axis of a tool and a calibration error caused by a camera mounting error in an embodiment of the present invention.
Detailed Description
In order to make the technical scheme of the invention clearer, the invention is further explained by combining the embodiment and the attached drawings.
Examples
FIG. 1 is a schematic view of a typical hole making area in an automated hole making process for an aircraft structure, wherein RHF 1 ,RHF 2 ,RHF 3 ,RHF 4 Is four reference holes, HF j Is a certain to-be-fastened hole. For an automatic hole making system, a vision system, a laser measurement system and other measurement systems need to be integrated for measuring hole making positioning deviation in a hole making process, in the following embodiments, a calculation method of installation parameters of a measurement unit of the automatic hole making system integrated with the vision system is exemplified, that is, an allowable installation angle error of a measurement camera is calculated and solved, wherein the installation angle is an included angle between an optical axis of the measurement camera and an axial direction of an axis of a drilling tool, the calculation method comprises the following steps:
step 1, establishing a positioning deviation model of an automatic hole making system based on calibration and measurement errors of a vision system. As shown in fig. 2, this step includes the following sub-steps:
(1) Calculating the deviation T between the actual tool coordinate system TCP' and the actual reference hole position without considering the calibration and measurement errors of the visual system PE Comprises the following steps:
T PE ＝ TCP’ T VSF VSF T RHF’ ；
wherein the content of the first and second substances, TCP’ T VSF representing the pose of the ideal vision system coordinate system in the actual tool coordinate system, VSF T RHF’ representing the actual reference hole pose, T, in the coordinate system of the vision system PE Representing the actual positioning deviation.
(2) Calculating the deviation T between the actual tool coordinates TCP' and the measured reference hole position taking into account the calibration and measurement errors of the vision system PE’ Comprises the following steps:
T PE’ ＝ TCP’ T VSF’ VSF’ T RHF” ；
wherein, the first and the second end of the pipe are connected with each other, TCP’ T VSF’ representing the pose of the non-ideal vision system coordinate system in the actual tool coordinate system, VSF’ T RHF’ represents the position and posture of a reference hole T measured in a coordinate system of a vision system PE’ Indicating the measured positioning deviation.
(3) Due to calibration and measurement errors of the vision system, an error T exists between the actual reference hole coordinate system and the measured reference hole coordinate system PE” Thus, after measurement and compensation of the placement error, the automated hole making system has a placement error of T PE” ＝(T PE ) -1 T PE’ It is mainly affected by calibration and measurement errors, the error level is usually about one tenth of the positioning deviation of the automatic hole making system when the vision system is not integrated.
(1) In the reference hole position measuring stage, the position errors of 4 reference holes are measured
Comprises the following steps:
wherein the content of the first and second substances,
caused by calibration and measurement errors of the integrated vision system.
(2) In the drilling position correction stage based on the bilinear interpolation algorithm, the measured reference hole position error is used
Correction of the position error of the n fastening holes in the hole to be produced>
Comprises the following steps:
wherein f (-) represents a bilinear interpolation function, S u,v Is a curved surface model of the structure of the airplane to be drilled, and u, v are E [0,1 ∈]×[0,1]。
(3) In the hole-making position correction stage, the deviation between the actual tool TCP and the corrected hole-making position
Comprises the following steps:
wherein, with
Compared with, is>
The interpolation error caused by the inaccuracy of the interpolation algorithm is considered.
(4) According to the steps (1-1), (1-2) and (1-3), calculation
Comprises the following steps:
wherein the content of the first and second substances,
TCP’ T VSF’ ＝ TCP’ T VSF TCP’ DT VSF ；
VSF’ T RHF’ ＝ VSF T RHF’ VSF DT RHF’ ；
wherein the content of the first and second substances, TCP’ DT VSF an error matrix of a coordinate system of the vision system, VSF DT RHF’ is the measurement error of the visual system.
(5) In engineering practice, in order toSimplifying, and assuming that all axes of a tool coordinate system TCP and a visual system coordinate system are consistent; therefore, the temperature of the molten metal is controlled, TCP’ T VSF is an identity matrix. In addition, since the axis of the camera has been adjusted to coincide with the axis of the reference hole before the reference hole is detected, VSF T RHF’ is a transformation matrix that does not contain directional components, and thus has:
based on a small-angle approximation, the method,
is expressed entirely as:
wherein the content of the first and second substances,
is a calibration error along the x, y and z axes of the coordinate system of the vision system, and is based on the calibration error>
Measurement error of the ith reference hole along x and y axes of a coordinate system of the vision system, and then is judged>
Is the measurement error along the z-axis of the vision system coordinate system, which is usually controlled by an integrated laser displacement sensor for normal vector adjustment.
(6) Taking into account the interpolation error(s),
correspondingly calculated from: />
Wherein, the first and the second end of the pipe are connected with each other,
is the error associated with the interpolation model (based on 4 reference holes),
is the measurement error of 4 reference holes along the x and y axes of the coordinate system of the visual system.
Error in interpolation algorithms in general
Very small, negligibly rememberable, hole-making positioning deviation>
Can be simplified as follows:
step 3, constructing a drilling positioning deviation comprehensive model delta according to the drilling position tolerance constraint j ≤δ tol And solving the value interval of the unknown deviation source when the tolerance constraint is met by combining the probability distribution of part of known deviation sources. The method comprises the following steps:
(1) According to the tolerance of the drilling position, a drilling positioning deviation comprehensive model is constructed as follows
δ j ＝||δ j || 2 ≤δ tol ；
Wherein | · | purple sweet 2 Is the Euclidean norm, δ tol Is the tolerance of the position error, δ j ＝(δ x ,δ y ) Is a position error vector on the xy plane of the coordinate system of the visual system,
because the hole making direction is along the normal at the hole making location, positional errors along the z-axis of the coordinate system do not affect fastening hole positional errors.
Suppose that
And (3) rewriting the hole-making positioning deviation comprehensive model into:
for simplicity, a calibration error is assumed
Is a linear superposition of some error sources as described below. Considering that visual measurements are usually done in a short time interval, the influence of temperature fluctuations may be disregarded. Because the joint angles when the machine tool processes the calibration hole and the camera measures the calibration hole are very close, the influence of gravity can be ignored. In addition, because the calibration holes made are aligned to the image center by iterative measurements.
Wherein, delta conext ,δ ins ,δ machine Respectively representing the calibration errors from the elliptical contour extraction algorithm, the camera mounting and the hole making equipment.
(2) According to the basic attribute of random variable distribution, the following mean value and variance relationship is obtained, namely the relationship formula for representing each deviation source:
when the confidence level is 99.994%, δ is known tol Is varied within a range
The upper and lower limits are:
known as delta conext ,δ machine The upper and lower limits of the variation interval are:
unknown delta ins Upper and lower limits of the variation interval of (2):
(3) In engineering applications, δ conext ,δ ins ,δ machine Upper and lower limits of partial error sources and position error delta tol The tolerance interval of (3) is known in advance, and by taking the tolerance interval as an engineering constraint, a corresponding mean value and a standard deviation can be calculated according to the relation between the probability distribution parameters and the interval in the step (2):
then, according to δ in step (2) conext ,δ ins ,δ machine And delta tol All areThe relation between the value and the variance, the probability distribution parameter of the unknown error source can be calculated:
and 4, taking the distribution interval of the unknown deviation source as the distribution interval of the allowable installation angle error, and solving the installation angle error range of the measuring camera.
If delta ins Is an unknown deviation source and is mainly formed by an included angle theta between an actual camera optical axis and a cutter axis ins As shown in fig. 4, since the angle is close to 0 degrees, there are:
according to the basic attribute of the probability distribution of the random variables, obtaining:
according to the relation between the probability distribution parameters and the intervals, the probability distribution parameters can be calculated
Namely, the error range of the installation angle:
in the above embodiments, the installation parameter of the installation angle error range of the measurement camera is taken as an example for illustration, and it may also provide guidance for determining the installation parameters of other measurement units; at this time, a positioning deviation source distribution interval of the automated hole drilling system is calculated, and then the installation parameters of the automated hole drilling system are calculated based on the positioning deviation source distribution interval, specifically, the solution is performed according to the relationship between the installation parameters and the deviation source distribution interval, and the positioning deviation source distribution interval mainly includes step 1, step 2, and step 3 in the above embodiment.
Claims (5)
1. A method for calculating mounting parameters of a measuring camera of an automated drilling system, said mounting parameters including allowable mounting angle errors, a mounting angle being an angle between an optical axis of said measuring camera and an axial direction of a drilling tool axis, a vision system integrated on said automated drilling system including said measuring camera, said vision system for measuring drilling positioning deviations during drilling, said method comprising the steps of:
step 1, establishing a positioning deviation model of the automatic hole making system based on calibration and measurement errors of the vision system;
step 2, establishing a positioning deviation measurement and compensation model based on a plurality of reference holes, measuring positioning errors at the reference holes, and compensating the positioning errors of the poses of holes to be drilled in the action areas of the plurality of reference holes;
step 3, constructing a positioning deviation comprehensive model delta to be drilled according to the position and posture tolerance constraint of the drilled hole j ≤δ tol Solving the distribution interval of the unknown deviation source when the tolerance constraint is met by combining the distribution interval of the known deviation source;
step 4, taking the distribution interval of the unknown deviation source as the distribution interval of the allowable installation angle error, and solving the installation angle error range of the measuring camera;
the step 1 comprises the following steps:
(1) Calculating the pose deviation T between the actual tool coordinate system TCP' and the actual reference hole on the premise of not considering the calibration and measurement errors of the vision system PE ＝ TCP’ T VSF VSF T RHF’ (ii) a Wherein the content of the first and second substances, TCP’ T VSF representing the pose of the visual system coordinate system in the actual tool coordinate system, VSF T RHF’ representing the actual reference hole pose in a visual system coordinate system;
(2) Taking into account the calibration of the vision system itselfOn the premise of measuring errors, calculating the pose deviation T between the actual tool coordinate system TCP' and the measured reference hole PE’ ＝ TCP’ T VSF’ VSF’ T RHF” (ii) a Wherein, the first and the second end of the pipe are connected with each other, TCP’ T VSF’ representing the pose of the non-ideal vision system coordinate system in the actual tool coordinate system, VSF’ T RHF” representing the pose of the reference hole measured in a non-ideal vision system coordinate system;
(3) After the positioning deviation measurement and compensation, the positioning deviation model of the automatic hole making system is T PE” ＝(T PE ) - 1 T PE’ ；
The step 2 comprises the following steps:
(1) Measuring the pose errors of the plurality of reference holes
Wherein m is the number of reference holes>
Pose deviations caused by calibration and measurement errors of the vision system itself;
(2) Using measured position and orientation errors of reference holes based on bilinear interpolation algorithm
Correcting the pose error of the hole to be made
Wherein n is the number of holes to be drilled, f (-) represents a bilinear interpolation function, S u,v Is a curved surface model of the structure of the airplane to be drilled, and u, v are E [0,1 ∈]×[0,1]；
(3) Calculating the pose deviation between the actual tool coordinate system TCP' and the corrected drilling pose
Wherein the content of the first and second substances,
wherein the content of the first and second substances,
and/or>
For the measurement error of the ith reference hole along the x-axis and the y-axis of the coordinate system of the vision system, the device is judged>
Measuring error of the ith reference hole along the z axis of the coordinate system of the vision system; />
And/or>
Calibrating errors along an x axis, a y axis and a z axis of a coordinate system of the vision system;
the step 3 comprises the following steps:
(1) Constructing a positioning deviation comprehensive model delta to be drilled according to the position and posture tolerance of the drilled hole j ＝||δ j || 2 ≤δ tol (ii) a Wherein | · | charging 2 Is the Euclidean norm, δ tol Is the tolerance of the pose error, δ j ＝(δ x ,δ y ) Is a position error vector on the xy plane of the coordinate system of the visual system,
(2) Order to
Then the comprehensive model of the positioning deviation of the hole to be manufactured is
(3) Order to
Wherein, delta conext 、δ ins 、δ machine Respectively representing calibration errors from an elliptical contour extraction algorithm, camera installation and hole making equipment, and taking the camera installation as an unknown deviation source;
(4) According to the basic attribute of random variable distribution, the relation between the mean value and the variance of the delta j is obtained as
(5) Based on the pair delta in engineering application conext 、δ ins 、δ machine Upper and lower limits of partial error source and pose error delta tol Is known, and solving for the unknown deviation source delta by using the relation between the deviation sources constructed in the step (4) ins The probability distribution parameter of (2).
2. The computing method according to claim 1, characterized in that:
m is 2, and the action area of the reference hole for hole position correction is a straight line area between the two reference holes; or m is 4, and the action region of the reference hole for hole position correction is the surface region surrounded by the four reference holes.
3. The computing method according to claim 1, wherein the step 4 comprises the steps of: source of unknown deviation delta ins Is the angle theta between the actual camera optical axis and the tool axis ins Is caused by
According to the probability distribution attribute of the random variable and the relation between the probability distribution parameter and the interval, the distribution interval->
The error range of the installation angle.
4. A method for calculating a distribution interval of positioning deviation sources of an automatic hole making system, wherein the automatic hole making system is integrated with a measuring system, and the measuring system is used for measuring the positioning deviation of hole making in the hole making process, and the calculating method comprises the following steps:
step 1, establishing a positioning deviation model of the automatic hole making system based on calibration and measurement errors of the measurement system;
step 2, establishing a positioning deviation measurement and compensation model based on a plurality of reference holes, measuring positioning errors at the reference holes, and compensating the positioning errors of the poses of holes to be drilled in the action areas of the plurality of reference holes;
step 3, constructing a positioning deviation comprehensive model delta to be drilled according to the position and posture tolerance constraint of the drilled hole j ≤δ tol Solving the distribution interval of the unknown deviation source when the tolerance constraint is met by combining the distribution interval of the known deviation source;
the step 1 comprises the following steps:
(1) Calculating the pose deviation T between the actual tool coordinate system TCP' and the actual reference hole on the premise of not considering the calibration and measurement errors of the measurement system PE ＝ TCP’ T VSF VSF T RHF’ (ii) a Wherein the content of the first and second substances, TCP’ T VSF representing the pose of the coordinate system of the measuring system in the coordinate system of the actual tool, VSF T RHF’ representing the pose of an actual reference hole in a coordinate system of a measuring system;
(2) Under the premise of considering the calibration and measurement errors of the measurement system, calculating the pose deviation T between the actual tool coordinate system TCP' and the measured reference hole PE’ ＝ TCP’ T VSF’ VSF’ T RHF” (ii) a Wherein the content of the first and second substances, TCP’ T VSF’ representing the pose of the non-ideal measuring system coordinate system in the actual tool coordinate system, VSF’ T RHF” representing the pose of the reference hole measured in a non-ideal measuring system coordinate system;
(3) After the positioning deviation measurement and compensation, the positioning deviation model of the automatic hole making system is T PE” ＝(T PE ) - 1 T PE’ ；
The step 2 comprises the following steps:
(1) Measuring the pose errors of the plurality of reference holes
Wherein m is the number of reference holes>
Pose deviations caused by calibration and measurement errors of the measurement system itself;
(2) Using measured position and orientation errors of reference holes based on bilinear interpolation algorithm
Correcting the position and posture error of the hole to be processed>
Wherein n is the number of holes to be drilled, f (-) represents a bilinear interpolation function, S u,v Is a curved surface model of the structure of the airplane to be drilled, and u, v are E [0,1 ∈]×[0,1]；
(3) Calculating the pose deviation between the actual tool coordinate system TCP' and the corrected drilling pose
The step 3 comprises the following steps:
(1) According to the position and position tolerance of the hole-makingComprehensive model delta of positioning deviation of hole to be drilled j ＝||δ j || 2 ≤δ tol (ii) a Wherein | · | purple sweet 2 Is the Euclidean norm, δ tol Is the tolerance of the pose error, δ j ＝(δ x ,δ y ) Is a position error vector on the xy plane of the coordinate system of the measuring system,
(2) Order to
Then the comprehensive model of the positioning deviation of the hole to be manufactured is
Wherein it is present>
For calibration errors along the x-axis of the coordinate system of the measuring system>
The calibration error along the y axis of the coordinate system of the measuring system is obtained;
(3) Order to
Wherein, delta conext 、δ ins 、δ machine Respectively representing calibration errors from an elliptical contour extraction algorithm, measurement unit installation and hole making equipment, and taking the measurement unit installation as an unknown deviation source;
(4) Obtaining delta according to the basic attribute of random variable distribution j Has a mean and variance relationship of
(5) Based on the pair delta in engineering application conext 、δ ins 、δ machine Upper and lower limits of partial error source and pose error delta tol Is known, and solving for the unknown deviation source delta by using the relation between the deviation sources constructed in the step (4) ins A probability distribution parameter of (a);
wherein the content of the first and second substances,
and/or>
For the measurement error of the ith reference hole along the x-axis and the y-axis of the coordinate system of the measurement system,
measuring error of the ith reference hole along the z axis of the coordinate system of the measuring system; />
And/or>
The calibration errors along the x-axis, y-axis and z-axis of the coordinate system of the measuring system are shown.
5. The computing method according to claim 4, wherein:
m is 2, and the action area of the reference hole for hole position correction is a straight line area between the two reference holes; or m is 4, and the action region of the reference hole for hole position correction is the surface region surrounded by the four reference holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010705629.1A CN112091255B (en) | 2020-07-21 | 2020-07-21 | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010705629.1A CN112091255B (en) | 2020-07-21 | 2020-07-21 | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112091255A CN112091255A (en) | 2020-12-18 |
| CN112091255B true CN112091255B (en) | 2023-03-28 |
Family
ID=73749781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010705629.1A Active CN112091255B (en) | 2020-07-21 | 2020-07-21 | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112091255B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112809037B (en) * | 2021-01-04 | 2022-04-29 | 中国航空制造技术研究院 | Method for drilling on curved surface structure |
| CN112917241B (en) * | 2021-03-02 | 2022-02-11 | 清华大学深圳国际研究生院 | Hole series form and position error correction method |
| CN114609973A (en) * | 2022-03-25 | 2022-06-10 | 成都飞机工业（集团）有限责任公司 | Geometric feature inspection method for numerical control hole making program |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6030154A (en) * | 1998-06-19 | 2000-02-29 | International Business Machines Corporation | Minimum error algorithm/program |
| CN1330935C (en) * | 2006-03-29 | 2007-08-08 | 北京航空航天大学 | Microinertia measuring unit precisive calibration for installation fault angle and rating factor decoupling |
| CN101804470B (en) * | 2010-03-31 | 2012-02-22 | 南京航空航天大学 | Automatic wing-body docking hole-making system and method |
| CN103991006B (en) * | 2014-04-01 | 2016-05-11 | 浙江大学 | For scaling method and the device of robot hole platform vision measurement system |
| EP2993124B1 (en) * | 2014-09-08 | 2019-04-03 | Airbus Operations GmbH | Preventing cracks at bolted or riveted joints of aircraft structural parts |
| CN106542113B (en) * | 2016-11-02 | 2018-11-09 | 浙江大学 | A kind of aircraft target ship horizontal automatic drill riveter space relative pose error compensating method |
| CN106995063B (en) * | 2017-04-26 | 2019-05-14 | 浙江大学 | A kind of multi-functional end effector |
| CN109318050B (en) * | 2018-11-29 | 2019-11-08 | 清华大学 | The hole location bearing calibration of automatic punching system |
| CN109884988B (en) * | 2019-02-26 | 2020-09-01 | 浙江大学 | Hole making normal interpolation correction method of five-axis numerical control hole making machine tool |
-
2020
- 2020-07-21 CN CN202010705629.1A patent/CN112091255B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112091255A (en) | 2020-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112091255B (en) | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera | |
| CN102458779B (en) | Robot calibration apparatus and method for same | |
| US7899577B2 (en) | Measuring system and calibration method | |
| CN107972071B (en) | A kind of industrial robot link parameters scaling method based on distal point plane restriction | |
| US8401692B2 (en) | System and method for tool testing and alignment | |
| CN109211104B (en) | Processing hole site normal online correction method | |
| CN103777570B (en) | Mismachining tolerance quick detection compensation method based on nurbs surface | |
| CN109465829B (en) | Industrial robot geometric parameter identification method based on transformation matrix error model | |
| Mei et al. | Accurate positioning of a drilling and riveting cell for aircraft assembly | |
| US11914339B2 (en) | Datum selection methods and systems for minimizing hole position errors in group hole machining of large components | |
| CN112318498B (en) | Industrial robot calibration method considering parameter coupling | |
| CN112729112B (en) | Engine cylinder bore diameter and hole site detection method based on robot vision | |
| CN109366220A (en) | A kind of workpiece localization method and system | |
| CN111889730B (en) | Robot hole-making reference setting method for weak-rigidity airplane component assembly | |
| Mei et al. | Positioning variation synthesis for an automated drilling system in wing assembly | |
| CN110174074B (en) | Measuring device and method for thermal deformation error compensation of industrial robot | |
| US6823604B2 (en) | Method for adjusting assembly jig | |
| CN114952861A (en) | Robot kinematic parameter error accurate identification method based on pose measurement data | |
| JP2017037460A (en) | Machining system and machining method | |
| CN110825029A (en) | Method and system for compensating pose errors of self-adaptive machining mechanism | |
| CN112344868B (en) | Precision self-correction method and system for manufacturing aircraft wall plate | |
| CN114115123A (en) | Parameterized numerical control machining method and system for large-scale aviation thin-wall non-rigid part | |
| CN209840976U (en) | Measuring device for compensating thermal deformation error of industrial robot | |
| CN109014816B (en) | Feedback auxiliary assembly method for distributed force sensor | |
| CN111578872B (en) | Molded surface repairing method of mold |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |